#include <devbrake.h>
Public Member Functions | |
| int | brake_absolute (float position) |
| int | brake_relative (float position) |
| int | Close () |
| devbrake (bool train) | |
| float | get_position (void) |
| int | get_state (float *position, float *potentiometer, float *encoder, float *pressure) |
| Get current values of all the important hardware sensors. | |
| int | Open (const char *port_name) |
| ~devbrake () | |
Public Attributes | |
| double | encoder_max |
| double | encoder_min |
| double | encoder_range |
| double | pot_full |
| double | pot_off |
| double | pot_range |
| double | pressure_max |
| double | pressure_min |
| double | pressure_range |
Private Types | |
| typedef int(devbrake::* | query_method_t )(float *) |
Private Member Functions | |
| int | calibrate_brake (void) |
| void | check_encoder_limits (void) |
| int | configure_brake (void) |
| float | enc2pos (int encoder_val) |
| int | encoder_goto (int enc_delta) |
| int | pos2enc (float position) |
| float | pos2pot (float position) |
| float | pos2press (float position) |
| float | pot2pos (float pot_volts) |
| float | press2pos (float pressure_volts) |
| int | query_amps (float *data) |
| int | query_cmd (const char *string, char *status, int nbytes) |
| int | query_encoder (float *data) |
| int | query_pot (float *data) |
| int | query_pressure (float *data) |
| int | query_volts (float *data) |
| int | read_stable_value (query_method_t query_method, double *status, float epsilon) |
| int | servo_cmd (const char *string) |
| void | servo_write_only (const char *string) |
Private Attributes | |
| bool | already_configured |
| bool | apply_on_exit |
| float | cur_encoder |
| float | cur_position |
| float | cur_pot |
| float | cur_pressure |
| brake_status_t | cur_status |
| double | deceleration_limit |
| double | deceleration_threshold |
| double | pressure_filter_gain |
| float | prev_pressure |
| ArtBrakeModel * | sim |
| bool | training |
| bool | use_pressure |
Detailed Description
Definition at line 28 of file devbrake.h.
Member Typedef Documentation
typedef int(devbrake::* devbrake::query_method_t)(float *) [private] |
Definition at line 94 of file devbrake.h.
Constructor & Destructor Documentation
| devbrake::devbrake | ( | bool | train | ) |
Definition at line 42 of file devbrake.cc.
Definition at line 77 of file devbrake.cc.
Member Function Documentation
| int devbrake::brake_absolute | ( | float | position | ) |
Definition at line 149 of file devbrake.cc.
| int devbrake::brake_relative | ( | float | position | ) |
Definition at line 155 of file devbrake.cc.
| int devbrake::calibrate_brake | ( | void | ) | [private] |
Definition at line 351 of file devbrake.cc.
| void devbrake::check_encoder_limits | ( | void | ) | [inline, private] |
Definition at line 416 of file devbrake.cc.
| int devbrake::Close | ( | void | ) | [virtual] |
Reimplemented from Servo.
Definition at line 138 of file devbrake.cc.
| int devbrake::configure_brake | ( | void | ) | [private] |
Definition at line 458 of file devbrake.cc.
| float devbrake::enc2pos | ( | int | encoder_val | ) | [inline, private] |
Definition at line 114 of file devbrake.h.
| int devbrake::encoder_goto | ( | int | enc_delta | ) | [private] |
Definition at line 536 of file devbrake.cc.
| float devbrake::get_position | ( | void | ) | [inline] |
Definition at line 43 of file devbrake.h.
| int devbrake::get_state | ( | float * | position, |
| float * | potentiometer, | ||
| float * | encoder, | ||
| float * | pressure | ||
| ) |
Get current values of all the important hardware sensors.
Definition at line 194 of file devbrake.cc.
| int devbrake::Open | ( | const char * | port_name | ) | [virtual] |
Reimplemented from Servo.
Definition at line 83 of file devbrake.cc.
| int devbrake::pos2enc | ( | float | position | ) | [inline, private] |
Definition at line 116 of file devbrake.h.
| float devbrake::pos2pot | ( | float | position | ) | [inline, private] |
Definition at line 123 of file devbrake.h.
| float devbrake::pos2press | ( | float | position | ) | [inline, private] |
Definition at line 129 of file devbrake.h.
| float devbrake::pot2pos | ( | float | pot_volts | ) | [inline, private] |
Definition at line 121 of file devbrake.h.
| float devbrake::press2pos | ( | float | pressure_volts | ) | [inline, private] |
Definition at line 127 of file devbrake.h.
| int devbrake::query_amps | ( | float * | data | ) | [private] |
Definition at line 212 of file devbrake.cc.
| int devbrake::query_cmd | ( | const char * | string, |
| char * | status, | ||
| int | nbytes | ||
| ) | [private] |
Definition at line 610 of file devbrake.cc.
| int devbrake::query_encoder | ( | float * | data | ) | [private] |
Definition at line 227 of file devbrake.cc.
| int devbrake::query_pot | ( | float * | data | ) | [private] |
Definition at line 242 of file devbrake.cc.
| int devbrake::query_pressure | ( | float * | data | ) | [private] |
Definition at line 271 of file devbrake.cc.
| int devbrake::query_volts | ( | float * | data | ) | [private] |
Definition at line 305 of file devbrake.cc.
| int devbrake::read_stable_value | ( | query_method_t | query_method, |
| double * | status, | ||
| float | epsilon | ||
| ) | [private] |
Definition at line 724 of file devbrake.cc.
| int devbrake::servo_cmd | ( | const char * | string | ) | [private] |
Definition at line 781 of file devbrake.cc.
| void devbrake::servo_write_only | ( | const char * | string | ) | [private] |
Definition at line 807 of file devbrake.cc.
Member Data Documentation
bool devbrake::already_configured [private] |
Definition at line 82 of file devbrake.h.
bool devbrake::apply_on_exit [private] |
Definition at line 75 of file devbrake.h.
float devbrake::cur_encoder [private] |
Definition at line 87 of file devbrake.h.
float devbrake::cur_position [private] |
Definition at line 89 of file devbrake.h.
float devbrake::cur_pot [private] |
Definition at line 84 of file devbrake.h.
float devbrake::cur_pressure [private] |
Definition at line 85 of file devbrake.h.
brake_status_t devbrake::cur_status [private] |
Definition at line 83 of file devbrake.h.
double devbrake::deceleration_limit [private] |
Definition at line 77 of file devbrake.h.
double devbrake::deceleration_threshold [private] |
Definition at line 76 of file devbrake.h.
| double devbrake::encoder_max |
Definition at line 68 of file devbrake.h.
| double devbrake::encoder_min |
Definition at line 67 of file devbrake.h.
| double devbrake::encoder_range |
Definition at line 69 of file devbrake.h.
| double devbrake::pot_full |
Definition at line 58 of file devbrake.h.
| double devbrake::pot_off |
Definition at line 57 of file devbrake.h.
| double devbrake::pot_range |
Definition at line 59 of file devbrake.h.
double devbrake::pressure_filter_gain [private] |
Definition at line 78 of file devbrake.h.
| double devbrake::pressure_max |
Definition at line 63 of file devbrake.h.
| double devbrake::pressure_min |
Definition at line 62 of file devbrake.h.
| double devbrake::pressure_range |
Definition at line 64 of file devbrake.h.
float devbrake::prev_pressure [private] |
Definition at line 86 of file devbrake.h.
ArtBrakeModel* devbrake::sim [private] |
Definition at line 91 of file devbrake.h.
bool devbrake::training [private] |
Definition at line 74 of file devbrake.h.
bool devbrake::use_pressure [private] |
Definition at line 79 of file devbrake.h.
The documentation for this class was generated from the following files: